Skip to main content
SpringerLink
Log in

Design and analysis of a compliant parallel pan-tilt platform

  • Recent Progress and Novel Applications of Parallel Mechanisms
  • Published:
Meccanica Aims and scope Submit manuscript

Abstract

In combination of the advantages of both parallel mechanisms and compliant mechanisms, a compliant parallel mechanism with two rotational degrees of freedom is designed to meet the requirement of a lightweight and compact pan-tilt platform. Firstly, two commonly-used design methods i.e. direct substitution and Freedom and Constraint Topology are applied to design the configuration of the pan-tilt system, and similarities and differences of the two design alternatives are compared. Then inverse kinematic analysis of the candidate mechanism is implemented by using the pseudo-rigid-body model, and the Jacobian related to its differential kinematics is further derived to help designer realize dynamic analysis of the 8R compliant mechanism. In addition, the mechanism’s maximum stress existing within its workspace is tested by finite element analysis. Finally, a method to determine joint damping of the flexure hinge is presented, which aims at exploring the effect of joint damping on actuator selection and real-time control. To the authors’ knowledge, almost no existing literature concerns with this issue.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12

Similar content being viewed by others

References

  1. Her I, Midha A (1987) A compliance number concept for compliant mechanisms, and type synthesis. ASME J Mech Trans Autom Des 109(3):348–355

    Article  Google Scholar 

  2. Howell LL (2001) Compliant mechanisms. Wiley, Hoboken

    Google Scholar 

  3. Tlusty J, Ziegert J, Ridgeway S (1999) Fundamental comparison of the use of serial and parallel kinematics for machines tools. CIRP Annal Manuf Technol 48(1):351–356

    Article  Google Scholar 

  4. Wenger P, Gosselin C, Maille B (1999) A comparative study of serial and parallel mechanism topologies for machine tools. In: Proceedings of PKM’99, pp 23–32

  5. Hara A, Sugimoto K (1989) Synthesis of parallel micromanipulators. ASME J Mech Trans Autom Des 111(1):34–39

    Article  Google Scholar 

  6. Yu JJ, Bi SS, Zong GH (2004) A method to evaluate and calculate the mobility of a general compliant parallel manipulator. ASME 2004 international design engineering technical conferences and computers and information in engineering conference, pp 743–748

  7. Bruzzone L, Molfino RM (2006) A novel parallel robot for current microassembly applications. Assem Autom 26(4):299–306

    Article  Google Scholar 

  8. Dong W, Sun LN, Du ZJ (2007) Design of a precision compliant parallel positioner driven by dual piezoelectric actuators. Sens Actuators A 135(1):250–256

    Article  Google Scholar 

  9. Hao GB, Kong XW, Meng Q (2010) Design and modelling of spatial compliant parallel mechanisms for large range of translation. ASME 2010 international design engineering technical conferences and computers and information in engineering conference, pp 329–340

  10. Palpacelli MC, Palmieri G, Callegari M (2012) A redundantly actuated 2-degrees-of-freedom mini pointing device. ASME J Mech Robot 4(3):031012

    Article  Google Scholar 

  11. Hopkins JB, Culpepper ML (2010) Synthesis of multi-degree of freedom, parallel flexure system concepts via Freedom and Constraint Topology (FACT)—part I: principles. Precis Eng 34(2):259–270

    Article  Google Scholar 

  12. Yu JJ, Li SZ, Su HJ, Culpepper ML (2011) Screw theory based methodology for the deterministic type synthesis of flexure mechanisms. ASME J Mech Robot 3(3):031008

    Article  Google Scholar 

  13. Ball RS (1900) A treatise on the theory of screws. Cambridge University Press, Cambridge

    MATH  Google Scholar 

  14. Lobontiu N (2003) Compliant mechanisms: design of flexure hinges. CRC Press, Boca Raton

    Google Scholar 

  15. Trease BP, Moon Y, Kota S (2005) Design of large-displacement compliant joints. ASME J Mech Des 127(7):788–798

    Article  Google Scholar 

  16. Ouerfelli M, Kumar V (1994) Optimization of a spherical five-bar parallel drive linkage. ASME J Mech Des 116(1):166–173

    Article  Google Scholar 

  17. Zhang LJ, Niu YW, Li YQ, Huang Z (2006) Analysis of the workspace of 2-DOF spherical 5R parallel manipulator. Robot Autom. In: Proceedings of the 2006 IEEE international conference on robotics and automation, pp 1123–1128

  18. Kong XW (2010) Forward displacement analysis of a 2-DOF RR-RRR-RRR spherical parallel manipulator. Mechatronics and embedded systems and applications (MESA). IEEE/ASME international conference, pp 446–451

  19. Zhang LJ, Niu YW, Huang Z (2006) Analysis of the workspace of spherical 2-dof parallel manipulator with actuation redundancy. Mech Autom. In: Proceedings of the 2006 IEEE international conference, pp 153–158

  20. Sofka J, Skormin V, Nikulin V, Nicholson DJ (2006) Omni-Wrist III-a new generation of pointing devices. Part I. Laser beam steering devices-mathematical modeling. IEEE Trans Aerosp Electron Syst 42(2):718–725

    Article  ADS  Google Scholar 

  21. Yu JJ, Dong X, Kong XW, Pei X (2012) Mobility and singularity analysis of a class of two degrees of freedom rotational parallel mechanisms using a visual graphic approach. ASME J Mech Robot 4(4):041006

    Article  Google Scholar 

  22. Lobontiu N, Garcia E, Goldfarb M, Paine JS (2001) Corner-filleted flexure hinges. ASME J Mech Des 123(3):346–352

    Article  Google Scholar 

  23. Smith ST, Badami VG, Dale JS, Xu Y (1997) Elliptical flexure hinges. Rev Sci Instrum 68(3):1474–1483

    Article  ADS  Google Scholar 

  24. Wu J, Li TM, Wang JS, Wang LP (2013) Stiffness and natural frequency of a 3-DOF parallel manipulator with consideration of additional leg candidates. Rob Auton Syst 61(8):868–875

    Article  Google Scholar 

  25. Cammarata A, Condorelli D, Sinatra R (2013) An algorithm to study the elastodynamics of parallel kinematic machines with lower kinematic pairs. ASME J Mech Robot 5(1):011004

    Article  Google Scholar 

  26. Bratland M, Haugen B, Rølvåg T (2011) Modal analysis of active flexible multibody systems. Comput Struct 89(9):750–761

    Article  Google Scholar 

  27. Jonker B (1990) A finite element dynamic analysis of flexible manipulators. Int J Robot Res 9(4):59–74

    Article  Google Scholar 

  28. Palmieri G, Martarelli M, Palpacelli MC, Carbonari L (2014) Configuration-dependent modal analysis of a Cartesian parallel kinematics manipulator: numerical modeling and experimental validation. Meccanica 49(4):961–972

    Article  MATH  Google Scholar 

  29. Bricout JN, Debus JC, Micheau P (1990) A finite element model for the dynamics of flexible manipulators. Mech Mach Theory 25(1):119–128

    Article  Google Scholar 

Download references

Acknowledgments

The authors gratefully acknowledge the financial support of the National Natural Science Foundation of China under Grant No. 51175010 and Ph.D. Programs Foundation of Education of China under Grant No. 20111102130004.

Author information

Authors and Affiliations

  1. Robotics Institute, Beihang University, Beijing, 100191, China

    Jingjun Yu & Dengfeng Lu

  2. School of Engineering, University College Cork, Cork, Ireland

    Guangbo Hao

Authors
  1. Jingjun Yu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Dengfeng Lu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Guangbo Hao
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jingjun Yu.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Yu, J., Lu, D. & Hao, G. Design and analysis of a compliant parallel pan-tilt platform. Meccanica 51, 1559–1570 (2016). https://doi.org/10.1007/s11012-015-0116-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11012-015-0116-1

Keywords

Search

Navigation